#ifndef __PID_H
#define __PID_H

#ifdef __cplusplus
extern "C" {
#endif

#include "stdint.h"

typedef enum
{
  PID_POSITION_METHOD = 0u,
  PID_INCREMENT_METHOD
} PID_METHOD;

void PID_Init(void);
void PID_Calculate(uint8_t motor, int32_t in_cmd, int32_t in_fbk, uint16_t* out_u, uint8_t* out_su);

#ifdef __cplusplus
}
#endif

#endif /* __PID_H */
